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/*
* SOLID - Software Library for Interference Detection
*
* Copyright (C) 2001-2003 Dtecta. All rights reserved.
*
* This library may be distributed under the terms of the Q Public License
* (QPL) as defined by Trolltech AS of Norway and appearing in the file
* LICENSE.QPL included in the packaging of this file.
*
* This library may be distributed and/or modified under the terms of the
* GNU General Public License (GPL) version 2 as published by the Free Software
* Foundation and appearing in the file LICENSE.GPL included in the
* packaging of this file.
*
* This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Commercial use or any other use of this library not covered by either
* the QPL or the GPL requires an additional license from Dtecta.
* Please contact info@dtecta.com for enquiries about the terms of commercial
* use of this library.
*/
#ifndef DT_CONVEX_H
#define DT_CONVEX_H
#include "DT_Shape.h"
#include "MT_Vector3.h"
#include "MT_Point3.h"
#include "MT_Matrix3x3.h"
#include "MT_Transform.h"
class DT_Convex : public DT_Shape {
public:
virtual ~DT_Convex() {}
virtual DT_ShapeType getType() const { return CONVEX; }
virtual MT_Scalar supportH(const MT_Vector3& v) const { return v.dot(support(v)); }
virtual MT_Point3 support(const MT_Vector3& v) const = 0;
virtual MT_BBox bbox() const;
virtual MT_BBox bbox(const MT_Matrix3x3& basis) const;
virtual MT_BBox bbox(const MT_Transform& t, MT_Scalar margin = MT_Scalar(0.0)) const;
virtual bool ray_cast(const MT_Point3& source, const MT_Point3& target, MT_Scalar& param, MT_Vector3& normal) const;
protected:
DT_Convex() {}
};
bool intersect(const DT_Convex& a, const DT_Convex& b, MT_Vector3& v);
bool common_point(const DT_Convex& a, const DT_Convex& b, MT_Vector3& v, MT_Point3& pa, MT_Point3& pb);
MT_Scalar closest_points(const DT_Convex&, const DT_Convex&, MT_Scalar max_dist2, MT_Point3& pa, MT_Point3& pb);
bool penetration_depth(const DT_Convex& a, const DT_Convex& b, MT_Vector3& v, MT_Point3& pa, MT_Point3& pb);
bool hybrid_penetration_depth(const DT_Convex& a, MT_Scalar a_margin,
const DT_Convex& b, MT_Scalar b_margin,
MT_Vector3& v, MT_Point3& pa, MT_Point3& pb);
#endif
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